US20090131975A1 - Overmolded grasper jaw - Google Patents
Overmolded grasper jaw Download PDFInfo
- Publication number
- US20090131975A1 US20090131975A1 US12/359,836 US35983609A US2009131975A1 US 20090131975 A1 US20090131975 A1 US 20090131975A1 US 35983609 A US35983609 A US 35983609A US 2009131975 A1 US2009131975 A1 US 2009131975A1
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- jaw
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- camming
- surgical instrument
- pin
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- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 239000000463 material Substances 0.000 claims abstract description 9
- 239000007769 metal material Substances 0.000 claims abstract description 3
- 239000002131 composite material Substances 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000002184 metal Substances 0.000 abstract description 8
- 230000004044 response Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000009760 electrical discharge machining Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 238000001259 photo etching Methods 0.000 description 1
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- 238000001356 surgical procedure Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/282—Jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/282—Jaws
- A61B2017/2825—Inserts of different material in jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2934—Transmission of forces to jaw members camming or guiding means arcuate shaped guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2936—Pins in guiding slots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2943—Toothed members, e.g. rack and pinion
Definitions
- This invention generally relates to surgical graspers having opposing jaws and, in particular, to composite grasper jaws and mechanisms for actuating the jaws.
- grasper jaws have been formed of metal in order to provide strength and reliability.
- Various processes of forming the metal have included stamping, EDM (Electrical Discharge Machining), photochemical etching, water jet cutting, laser cutting, and machining. All of these processes are relatively expensive and time consuming since the jaws must end up with outer surfaces and edges which are atraumatic to body tissue.
- the actuation mechanisms of the past have typically operated with a single pin moveable axially within two slots, each associated with one of the jaws. The two slots have provided four camming surfaces to open and close each of the two jaws.
- the present invention is directed to a surgical instrument such as a surgical grasper comprising an elongate tube extending along an axis including a camming rod and an actuation mechanism operably connected to the camming rod, the camming rod having a camming pin and a camming projection; a first jaw spine having a first cam slot, a first interior camming surface, and a first exterior camming surface; and a second jaw spine having a second cam slot, a second interior camming surface, and a second exterior camming surface, the second jaw spine pivotally connected to the first jaw spine at a common pivot pin operably connected to the elongate tube to open and close the jaw spines in response to movement of the actuation mechanism.
- a surgical instrument such as a surgical grasper comprising an elongate tube extending along an axis including a camming rod and an actuation mechanism operably connected to the camming rod, the camming rod having a camming pin and a camming
- a feature of the invention is the camming pin rides along the first and second interior camming surfaces and operates to close the jaw spines when the camming rod is moved proximally.
- the first exterior camming surface is formed on the proximal side of the first jaw spine
- the second exterior camming surface is formed on the proximal side of the second jaw spine
- the camming projection rides on the first and second exterior camming surfaces and operates to open the respective first and second jaw spines.
- one camming surface on each jaw spine can facilitate closing the jaw spines while the other camming surface on each jaw spine can facilitate opening the jaw spines.
- each jaw spine can be widely separated to provide different mechanical advantages for the opening and closing operations.
- the closing camming surfaces can be positioned further from the common pivot point to provide an increase mechanical advantage for opening the jaw spines. This is particularly beneficial during a surgical procedure involving the blunt dissection of tissue.
- the different mechanical advantages also can be tailored to accommodate the different loads encountered when closing and opening the jaw spines.
- the jaw spines can be formed of a metallic material and are overmolded with an atraumatic plastic material.
- the combination of the metal spine and plastic overmold provide a very rigid composite jaw while accommodating relatively inexpensive manufacturing technologies.
- the jaw spines do not need to be manufactured with a process demanding an atraumatic outer surface.
- an atraumatic outer surface can be formed of the plastic material along with a high degree of detail.
- the overmolded jaws can be provided with features that facilitate application of atraumatic pads.
- the invention is directed to a surgical instrument comprising an elongate tube extending along an axis including an actuation rod; a first jaw spine having a proximal end; a second jaw spine having a proximal end, the second jaw spine being pivotally connected to the first jaw spine at a common pivot pin operably connected to the elongate tube to open and close the jaw spines in response to movement of the actuation rod; a first link having a distal end pivotally connected to the proximal end of the second jaw spine and a proximal end pivotally connected to a pivot pin on the actuation rod; and a second link having a distal end pivotally connected to the proximal end of the first jaw spine and a proximal end pivotally connected to the pivot pin of the actuation rod.
- the surgical instrument of the invention comprises an elongate tube extending along an axis including an actuation rod; a first jaw spine having a proximal end and a distal end, the proximal end having a first series of gear teeth formed around a first hole; a second jaw spine having a proximal end and a distal end, the proximal end having a second series of gear teeth formed around a second hole, the second jaw spine being pivotally joined to the first jaw spine by a pivot pin through the first and second holes that operably opens and closes the jaw spines in response to movement of the actuation rod; and the elongate tube having a first fenestration of windows extending axially on one side of the tube and a second fenestration of windows extending on an opposite side of the tube facing the first fenestration of windows such that the first series of gear teeth can be positioned to ride within the first fenestration of windows and the second series of gear teeth can be positioned to ride
- the first and second series of gear teeth are pivoted on the pivot pin by the respective first and second fenestration of windows; and when the actuation rod is moved distally relative to the elongate tube, the first and second fenestrations of windows rotate the respective first and second series of gear teeth in opposite directions to an open position.
- the invention is directed to a surgical instrument comprising an elongate tube extending along an axis including an actuation rod; a first jaw spine having a first cam slot, the first jaw spine being coupled to the elongate tube by a first pivot pin; and a second jaw spine having a second cam slot, the second jaw spine being coupled to the elongate tube by a second pivot pin, the second jaw spine being connected to the first jaw spine at a common pin attached to the actuation rod that rides within the first and second cam slots associated with the respective first and second jaw spines.
- the common pin rides within the first and second cam slots causing the respective first and second jaw spines to rotate on the respective first and second pivot pins to an open position.
- the common pin moves to the proximal ends of the first and second cam slots causing the jaw spines to pivot on their respective first and second pivot pins to a generally closed position.
- the invention is directed to a surgical instrument comprising an elongate tube extending along an axis including an outer tube and an actuation rod; a first jaw spine having a first cam slot, the first jaw spine being coupled to the outer tube by a first pivot pin disposed in the first cam slot; and a second jaw spine having a second cam slot, the second jaw spine being coupled to the outer tube by a second pivot pin disposed in the second cam slot, the second jaw spine being pivotally connected to the first jaw spine at a common pin attached to the actuation rod.
- the first and second jaw spines pivot on the common pin as the respective first and second pivot pins ride within the respective first and second cam slots causing the first and second jaw spines to open.
- the invention is directed to a surgical instrument comprising an elongate tube extending along an axis including an outer tube and an actuation rod; a first jaw spine having a first outer surface and a first stub extending outwardly of the first outer surface; and a second jaw spine having a second outer surface and a second stub extending outwardly of the second surface, the second jaw spine being pivotally connected to the first jaw spine by a common pin attached to the outer tube, wherein the actuation rod is bifurcated at its distal end to form two extensions that extend outwardly of the first and second surfaces, respectively.
- Each of the two extensions further comprises a slot, and the slots traverse one another and to the axis.
- Each of the slots of the two extensions is sized and configured to receive their respective first and second stubs associated with the respective first and second jaw spines.
- the first and second stubs are forced to the distal end of their respective first and second slots causing the respective first and second jaw spines to close.
- the first and second stubs are moved inwardly as they transition to the distal end of the respective first and second slots causing the respective first and second jaw spines to move to an open position.
- FIG. 1 is a top plan view of a grasper of the invention including a single pivot pin and a double cam mechanism;
- FIG. 2 is a bottom plan view of the grasper jaw of FIG. 1 illustrating in greater detail four camming surfaces associated with the jaws;
- FIG. 3 is a perspective view of a grasper jaw in accordance with another embodiment of the invention including linkage in an actuation mechanism;
- FIG. 4 is a perspective view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention including a rack and pinion;
- FIG. 5 is a perspective view of the actuation mechanism shown in FIG. 4 in an open position
- FIG. 6 is a top perspective view of the top jaw of the grasper jaw of FIG. 4 ;
- FIG. 7 is a bottom perspective view of the bottom jaw of the grasper jaw of FIG. 4 ;
- FIG. 8 is a side elevation view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention including a separate pivot for each of the jaws;
- FIG. 9 is a top plan view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention having a double pivot and slotted jaws;
- FIG. 10 is a bottom plan view of the grasper jaw of FIG. 9 ;
- FIG. 11 is a top plan view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention including a double pivot and a double cam;
- FIG. 12 is a bottom plan view of the grasper jaw of FIG. 11 ;
- FIG. 13 is a top plan view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention having a reversed slot with a pivot;
- FIG. 14 is a bottom plan view of the grasper jaw of FIG. 13 ;
- FIG. 15 is a top plan view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention having a slotted actuation rod;
- FIG. 16 is a bottom plan view of the grasper jaw of FIG. 15 .
- a surgical grasper is illustrated in FIG. 1 and designated by the reference numeral 10 .
- the grasper is an elongate device having an axis 12 which extends between a proximal end 14 and a distal end 16 .
- a pair of opposing jaw spines 18 and 21 disposed at the distal end 16 , are operable between opened and closed positions by an actuation mechanism 23 .
- a shaft assembly 25 extends along the axis 12 and includes an outer tube 27 and an inner actuation rod 30 .
- the spines 18 and 21 are pivotally attached to the outer tube 27 by a common pivot pin 32 .
- the actuation mechanism 23 includes a distal camming pin 34 and a proximal camming projection 36 . Both the pin 34 and projection 36 are carried by the actuation rod 30 which is moveable axially within the outer tube 27 .
- the camming pin 34 rides on two interior camming surfaces 38 and 41 each of which defines a slot in one of the jaw spines 21 and 18 , respectively.
- the camming pin 34 rides along the camming surfaces 38 and 41 and operates to close the jaw spines 18 and 21 .
- the camming projection 36 operates with respect to exterior camming surfaces 43 and 45 that are formed on the proximal side of the jaw spines 21 and 18 , respectively.
- the actuation rod 30 When the actuation rod 30 is moved distally, it rides on the exterior camming surfaces 43 and 45 , and operates to open the jaw spines 18 and 21 .
- this embodiment includes two pairs of camming surfaces, namely the surfaces 38 and 41 and the surfaces 43 and 45 , which can be disposed at different angles with respect to the axis 12 .
- the opening and closing of the jaws can be accomplished with different mechanical advantages.
- This enables the actuation mechanism 23 to be structured so that there is a higher mechanical advantage for closing the jaws when an increased load is encountered, and a lower mechanical advantage for opening the jaws when a higher speed may be desired.
- FIG. 3 elements of structure similar to those previously described are designated with the same reference numeral followed by the lower case letter “a.” It can be seen that this embodiment includes the shaft assembly 25 a , the outer tube 27 a and the actuation rod 30 a , as well as the jaw spines 18 a and 21 a that are pivotally connected on the common pivot pin 32 a . However, in this embodiment the proximal ends of the jaw spines 18 a and 21 a are coupled to the actuation rod 30 a by a pair of links 50 and 47 , respectively. These links 47 and 50 are pivotally connected through a common pivot pin 52 to the actuation rod 30 a .
- the links 47 and 50 are individually connected to the jaw spines 21 a and 18 a , respectively.
- the link 47 is coupled to the jaw spine 21 a by a pivot pin 54 and the link 50 is coupled to the jaw spine 18 a through a pivot pin 56 .
- FIG. 3 also functions with the actuation rod 30 a being moved axially relative to the outer tube 27 a .
- the pivot pin 52 approaches the pivot pin 32 a . This causes the distal ends of the links 47 and 50 to spread, resulting in the separation or opening of the jaw spines 18 a and 21 a .
- the pin 52 moves away from the pin 32 a causing the distal end of the links 47 and 50 to draw inwardly thereby closing the jaw spines 18 a and 21 a.
- this embodiment includes the outer tube 27 b , actuation rod 30 b , as well as the jaw spines 18 b and 21 b .
- the outer tube 27 b is provided with a fenestration of windows 58 extending axially on one side of the outer tube 27 b .
- a similar fenestration of windows 61 extends axially on the opposite side of the outer tube 27 b.
- the jaw spines 18 b and 21 b are best illustrated in the perspective views of FIGS. 6 and 7 .
- a series of gear teeth 63 are centered on a hole 65 that is offset from the longitudinal dimension of the jaw spine 18 b .
- the jaw spine 21 b is similarly constructed with a plurality of gear teeth 67 centered on a hole 70 that is offset from the longitudinal dimension of the jaw spine 21 b.
- the jaw spines 18 b and 21 b are joined by the pivot pin 32 b ( FIG. 5 ), which extends through the holes 65 and 70 .
- the pin 32 b can be further extended into at least one axial slot 72 in the outer tube 27 b .
- This axial slot 72 is positioned between the fenestration of windows 58 and the fenestration of windows 61 .
- the gear teeth 63 of the jaw spine 18 b can be positioned to ride within the fenestration of windows 58 .
- the gear teeth 67 of the jaw spine 21 b can be positioned to ride within the fenestration of windows 61 .
- the actuation rod 30 b is movable axially relative to the outer tube 27 b . This movement is restricted in this embodiment by the length of the axial slot 72 .
- the gear teeth 58 and 67 are pivoted on the pin 32 b by the fenestration of windows 58 and 61 , respectively.
- the jaw spines 18 b and 21 b are moved in different directions, in this case to a closed position as illustrated in FIG. 4 .
- FIG. 8 Another embodiment of the invention is illustrated in the side elevation view of FIG. 8 where elements of structure similar to those previously discussed are designated with the same reference numeral followed by the lower case letter “c.”
- the jaw spines are designated by the reference numeral 18 c and 21 c
- the outer tube and actuation rod are designated with the reference numerals 27 c and 30 c , respectively.
- the jaw spine 18 c is pivotally attached to the outer tube 27 c by a pivot pin 72 .
- the jaw spine 21 c is pivotally attached to the outer tube 27 c by a pivot pin 74 .
- the jaw spines 18 c and 21 c are also attached to the actuation rod 30 c by a common pivot pin 76 .
- the device is operated by moving the actuation rod axially relative to the outer tube 27 c .
- the actuation rod 30 c With the common pivot pin 76 disposed inwardly of the individual pins 72 and 74 , the actuation rod 30 c can be pulled proximally relative to the outer tube 27 c to close the jaw spines 18 c and 27 c .
- These jaw spines rotate on their individual pins 72 and 74 to a closed position as illustrated in FIG. 8 . If the actuation rod 30 c is pushed distally relative to the outer tube 27 c , the jaw spines 18 c and 27 c rotate on their respective pivot pins 72 and 74 outwardly to an open position.
- FIG. 9 contains elements of structure which are similar to those previously disclosed. In this case, these elements are designated with the same reference numeral followed by the lower case letter “d.”
- this embodiment includes the outer tube 27 d , the actuation rod 30 d and the jaw spines 18 d and 21 d .
- the jaw spines 18 d and 21 d are coupled to the outer tube 27 d by individual pivot pins 78 and 81 , respectively.
- a common pin 83 is provided that is attached to the actuation rod 30 d , which rides within a pair of intersecting slots 85 and 87 associated with the jaw spines 21 d and 18 d , respectively.
- this device is operated by moving the actuation rod 30 d axially relative to the outer tube 27 d .
- the common pin 83 rides within the respective slots 85 and 87 of the jaws 21 d and 18 d . This causes the jaw spines 18 d and 21 d to rotate on the individual pivot pins 78 and 81 , respectively, to an open position as illustrated in FIG. 9 .
- the common pin 83 moves to the proximal ends of the slots 85 and 87 . This causes the jaw spines 21 d and 18 d to pivot on their respective pins 81 and 78 to a generally closed position.
- the jaw spines such as jaw spines 18 d and 21 d can be overmolded with plastic to form a composite structure.
- one of the composite jaws can be formed with the metal interior jaw spine 18 d and an outer plastic overmold 90 .
- a similar outer plastic overmold 92 can be formed on the metal jaw spine 21 d .
- the plastic overmolds 90 and 92 can be easily and inexpensively provided with features such as a coupling detent 94 which is adapted to receive an atraumatic jaw pad 96 . It is these features which can be easily and inexpensively molded into the plastic overmold 90 but which would be economically impossible to form on metal jaws.
- the rigid composite jaw formed of the jaw spine 18 d and overmold 90 is not only practical but also cost effective and accordingly facilitates the application of additional features such as the disposable atraumatic pads 96 .
- FIG. 11 is similar to that of FIG. 9 where elements of structure similar to those previously discussed are designated with the same reference numeral followed by the lower case letter “e.”
- this embodiment includes the outer tube 27 e , the actuation rod 30 e , as well as the jaw spines 18 e , 21 e and associated overmolds 90 e and 92 e , respectively.
- This embodiment is similar to that of FIG. 9 in that it includes the individual pins 78 and 81 , as well as the common pin 83 .
- the common pin 83 is disposed to pivotally connect the jaw spines 18 e and 21 e with the actuation rod 30 e .
- the common pin 83 is not disposed in slots, but rather is disposed in holes associated with the jaw spines 18 e and 21 e .
- the individual pins 78 and 81 are not disposed in holes, as is the case with the embodiment of FIG. 9 , but rather are disposed in associated slots.
- FIG. 13 A further embodiment of the invention is illustrated in FIG. 13 wherein elements of structure similar to those previously disclosed are designated with the same reference numerals followed by the lower case letter “f.”
- this embodiment includes the outer tube 27 f , actuation rod 30 f , jaw spines 18 f and 21 f , overmolds 90 f and 92 f , as well as the common pivot pin 83 f , and slots 98 f and 101 f .
- the slots 98 f and 101 f intersect so that the individual pins 81 e and 78 e (not shown) in the embodiment of FIG. 11 can be combined into a common pin 103 which is fixed to the outer tube 27 f .
- the embodiment of FIG. 13 functions in the same manner as that of FIG. 11 .
- FIG. 15 contains elements of structure which are similar to those previously disclosed. Accordingly, they are designated with the same reference numerals followed by the lower case letter “g.”
- this embodiment includes the outer tube 27 g , the actuating rod 30 g , the jaw spines 18 g and 21 g together with the associated overmolds 90 g and 92 g .
- the jaw spine 18 g has an outer surface 107 while the jaw spine 21 g has an outer surface 110 .
- a stub 112 is fixed, typically by welding, to the jaw spine 18 g and extends outwardly of the surface 107 .
- a separate stub 114 can be fixed to the jaw spine 21 g to extend outwardly from the surface 110 .
- the jaw spines 18 g and 21 g are overlapped in a scissors configuration and held in a pivotal relationship with the outer tube 27 g by a common pin 105 .
- the actuation rod 30 g is bifurcated at its distal end to form two extensions 116 and 118 that extend outwardly of the surfaces 107 and 110 , respectively. These extensions 116 and 118 are provided with slots 121 and 123 , respectively, which are transversed to the axis 12 g and also transverse to each other.
- the slot 121 associated with the extension 116 is sized and configured to receive the stub 112 associated with the jaw spine 18 g .
- the slot 123 associated with the extension 118 is sized and configured to receive the stub 114 associated with the jaw spine 21 g.
- the jaw spines 18 g and 21 g pivot about the common pin 105 between an open position and a closed position.
- the actuating rod 30 g is moved distally relative to the outer tube 27 g
- the stubs 112 and 114 are forced to the distal end of their respective slots 121 and 123 .
- This causes the jaw spines 18 g and 21 g to close as they move toward each other.
- the actuating rod 30 g is pulled proximally relative to the outer tube 27 g
- the stubs 112 and 114 are moved inwardly as they transition to the distal end of the respective slots 121 and 123 .
- This causes the associated jaw spines 18 g and 21 g to move to an open position as they separate.
Abstract
Description
- This application is a continuation of U.S. patent application Ser. No. 10/986,993, entitled “OVERMOLDED GRASPER JAW,” filed on Nov. 12, 2004, currently pending, which is a non-provisional application claiming the priority of provisional application Ser. No. 60/519,849, filed on Nov. 12, 2003, entitled “OVERMOLDED GRASPER JAW AND DOUBLE CAMMING ACTUATION MECHANISM.” The entireties of both of these applications are fully incorporated herein by reference.
- 1. Field of the Invention
- This invention generally relates to surgical graspers having opposing jaws and, in particular, to composite grasper jaws and mechanisms for actuating the jaws.
- 2. Discussion of Related Art
- In the past, grasper jaws have been formed of metal in order to provide strength and reliability. Various processes of forming the metal have included stamping, EDM (Electrical Discharge Machining), photochemical etching, water jet cutting, laser cutting, and machining. All of these processes are relatively expensive and time consuming since the jaws must end up with outer surfaces and edges which are atraumatic to body tissue. In addition, the actuation mechanisms of the past have typically operated with a single pin moveable axially within two slots, each associated with one of the jaws. The two slots have provided four camming surfaces to open and close each of the two jaws.
- The present invention is directed to a surgical instrument such as a surgical grasper comprising an elongate tube extending along an axis including a camming rod and an actuation mechanism operably connected to the camming rod, the camming rod having a camming pin and a camming projection; a first jaw spine having a first cam slot, a first interior camming surface, and a first exterior camming surface; and a second jaw spine having a second cam slot, a second interior camming surface, and a second exterior camming surface, the second jaw spine pivotally connected to the first jaw spine at a common pivot pin operably connected to the elongate tube to open and close the jaw spines in response to movement of the actuation mechanism.
- A feature of the invention is the camming pin rides along the first and second interior camming surfaces and operates to close the jaw spines when the camming rod is moved proximally. With this aspect, the first exterior camming surface is formed on the proximal side of the first jaw spine, the second exterior camming surface is formed on the proximal side of the second jaw spine, and when the camming rod moves distally, the camming projection rides on the first and second exterior camming surfaces and operates to open the respective first and second jaw spines. In other words, one camming surface on each jaw spine can facilitate closing the jaw spines while the other camming surface on each jaw spine can facilitate opening the jaw spines. These two camming surfaces on each jaw spine can be widely separated to provide different mechanical advantages for the opening and closing operations. With this aspect, the closing camming surfaces can be positioned further from the common pivot point to provide an increase mechanical advantage for opening the jaw spines. This is particularly beneficial during a surgical procedure involving the blunt dissection of tissue. The different mechanical advantages also can be tailored to accommodate the different loads encountered when closing and opening the jaw spines.
- The jaw spines can be formed of a metallic material and are overmolded with an atraumatic plastic material. The combination of the metal spine and plastic overmold provide a very rigid composite jaw while accommodating relatively inexpensive manufacturing technologies. For example, the jaw spines do not need to be manufactured with a process demanding an atraumatic outer surface. By overmolding the plastic onto the metal spine, an atraumatic outer surface can be formed of the plastic material along with a high degree of detail. Additionally, the overmolded jaws can be provided with features that facilitate application of atraumatic pads.
- In another aspect, the invention is directed to a surgical instrument comprising an elongate tube extending along an axis including an actuation rod; a first jaw spine having a proximal end; a second jaw spine having a proximal end, the second jaw spine being pivotally connected to the first jaw spine at a common pivot pin operably connected to the elongate tube to open and close the jaw spines in response to movement of the actuation rod; a first link having a distal end pivotally connected to the proximal end of the second jaw spine and a proximal end pivotally connected to a pivot pin on the actuation rod; and a second link having a distal end pivotally connected to the proximal end of the first jaw spine and a proximal end pivotally connected to the pivot pin of the actuation rod.
- In another aspect, the surgical instrument of the invention comprises an elongate tube extending along an axis including an actuation rod; a first jaw spine having a proximal end and a distal end, the proximal end having a first series of gear teeth formed around a first hole; a second jaw spine having a proximal end and a distal end, the proximal end having a second series of gear teeth formed around a second hole, the second jaw spine being pivotally joined to the first jaw spine by a pivot pin through the first and second holes that operably opens and closes the jaw spines in response to movement of the actuation rod; and the elongate tube having a first fenestration of windows extending axially on one side of the tube and a second fenestration of windows extending on an opposite side of the tube facing the first fenestration of windows such that the first series of gear teeth can be positioned to ride within the first fenestration of windows and the second series of gear teeth can be positioned to ride within the second fenestration of window. With this aspect, when the actuation rod is drawn proximally within the elongate tube, the first and second series of gear teeth are pivoted on the pivot pin by the respective first and second fenestration of windows; and when the actuation rod is moved distally relative to the elongate tube, the first and second fenestrations of windows rotate the respective first and second series of gear teeth in opposite directions to an open position.
- In yet another aspect, the invention is directed to a surgical instrument comprising an elongate tube extending along an axis including an actuation rod; a first jaw spine having a first cam slot, the first jaw spine being coupled to the elongate tube by a first pivot pin; and a second jaw spine having a second cam slot, the second jaw spine being coupled to the elongate tube by a second pivot pin, the second jaw spine being connected to the first jaw spine at a common pin attached to the actuation rod that rides within the first and second cam slots associated with the respective first and second jaw spines. When the actuation rod is moved distally, the common pin rides within the first and second cam slots causing the respective first and second jaw spines to rotate on the respective first and second pivot pins to an open position. When the actuation rod is pulled proximally relative to the elongate tube, the common pin moves to the proximal ends of the first and second cam slots causing the jaw spines to pivot on their respective first and second pivot pins to a generally closed position.
- In another aspect, the invention is directed to a surgical instrument comprising an elongate tube extending along an axis including an outer tube and an actuation rod; a first jaw spine having a first cam slot, the first jaw spine being coupled to the outer tube by a first pivot pin disposed in the first cam slot; and a second jaw spine having a second cam slot, the second jaw spine being coupled to the outer tube by a second pivot pin disposed in the second cam slot, the second jaw spine being pivotally connected to the first jaw spine at a common pin attached to the actuation rod. When the actuation rod is moved distally relative to the outer tube, the first and second jaw spines pivot on the common pin as the respective first and second pivot pins ride within the respective first and second cam slots causing the first and second jaw spines to open.
- In yet another aspect, the invention is directed to a surgical instrument comprising an elongate tube extending along an axis including an outer tube and an actuation rod; a first jaw spine having a first outer surface and a first stub extending outwardly of the first outer surface; and a second jaw spine having a second outer surface and a second stub extending outwardly of the second surface, the second jaw spine being pivotally connected to the first jaw spine by a common pin attached to the outer tube, wherein the actuation rod is bifurcated at its distal end to form two extensions that extend outwardly of the first and second surfaces, respectively. Each of the two extensions further comprises a slot, and the slots traverse one another and to the axis. Each of the slots of the two extensions is sized and configured to receive their respective first and second stubs associated with the respective first and second jaw spines. When the actuation rod is moved distally relative to the outer tube, the first and second stubs are forced to the distal end of their respective first and second slots causing the respective first and second jaw spines to close. When the actuation rod is pulled proximally relative to the outer tube, the first and second stubs are moved inwardly as they transition to the distal end of the respective first and second slots causing the respective first and second jaw spines to move to an open position.
- These and other features and advantages of the invention will become more apparent with the description of the invention and reference to the associated drawings.
- The accompanying drawings, which are included in and constitute a part of this specification, illustrate the embodiments of the invention and, together with the description, explain the features, advantages and principles of the invention. In the drawings:
-
FIG. 1 is a top plan view of a grasper of the invention including a single pivot pin and a double cam mechanism; -
FIG. 2 is a bottom plan view of the grasper jaw ofFIG. 1 illustrating in greater detail four camming surfaces associated with the jaws; -
FIG. 3 is a perspective view of a grasper jaw in accordance with another embodiment of the invention including linkage in an actuation mechanism; -
FIG. 4 is a perspective view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention including a rack and pinion; -
FIG. 5 is a perspective view of the actuation mechanism shown inFIG. 4 in an open position; -
FIG. 6 is a top perspective view of the top jaw of the grasper jaw ofFIG. 4 ; -
FIG. 7 is a bottom perspective view of the bottom jaw of the grasper jaw ofFIG. 4 ; -
FIG. 8 is a side elevation view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention including a separate pivot for each of the jaws; -
FIG. 9 is a top plan view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention having a double pivot and slotted jaws; -
FIG. 10 is a bottom plan view of the grasper jaw ofFIG. 9 ; -
FIG. 11 is a top plan view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention including a double pivot and a double cam; -
FIG. 12 is a bottom plan view of the grasper jaw ofFIG. 11 ; -
FIG. 13 is a top plan view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention having a reversed slot with a pivot; -
FIG. 14 is a bottom plan view of the grasper jaw ofFIG. 13 ; -
FIG. 15 is a top plan view of an actuation mechanism of a grasper jaw in accordance with another embodiment of the invention having a slotted actuation rod; and -
FIG. 16 is a bottom plan view of the grasper jaw ofFIG. 15 . - A surgical grasper is illustrated in
FIG. 1 and designated by thereference numeral 10. The grasper is an elongate device having anaxis 12 which extends between aproximal end 14 and adistal end 16. A pair of opposingjaw spines distal end 16, are operable between opened and closed positions by anactuation mechanism 23. Ashaft assembly 25 extends along theaxis 12 and includes anouter tube 27 and aninner actuation rod 30. Thespines outer tube 27 by acommon pivot pin 32. - The
actuation mechanism 23 includes adistal camming pin 34 and aproximal camming projection 36. Both thepin 34 andprojection 36 are carried by theactuation rod 30 which is moveable axially within theouter tube 27. - The
camming pin 34 rides on two interior camming surfaces 38 and 41 each of which defines a slot in one of thejaw spines actuation rod 30 is moved proximally, thecamming pin 34 rides along the camming surfaces 38 and 41 and operates to close thejaw spines - The
camming projection 36 operates with respect to exterior camming surfaces 43 and 45 that are formed on the proximal side of thejaw spines actuation rod 30 is moved distally, it rides on the exterior camming surfaces 43 and 45, and operates to open thejaw spines - Thus, this embodiment includes two pairs of camming surfaces, namely the
surfaces surfaces axis 12. In this manner, the opening and closing of the jaws can be accomplished with different mechanical advantages. This enables theactuation mechanism 23 to be structured so that there is a higher mechanical advantage for closing the jaws when an increased load is encountered, and a lower mechanical advantage for opening the jaws when a higher speed may be desired. - In the embodiment of
FIG. 3 , elements of structure similar to those previously described are designated with the same reference numeral followed by the lower case letter “a.” It can be seen that this embodiment includes theshaft assembly 25 a, theouter tube 27 a and theactuation rod 30 a, as well as thejaw spines common pivot pin 32 a. However, in this embodiment the proximal ends of thejaw spines actuation rod 30 a by a pair oflinks links common pivot pin 52 to theactuation rod 30 a. At their distal ends, thelinks jaw spines link 47 is coupled to thejaw spine 21 a by apivot pin 54 and thelink 50 is coupled to thejaw spine 18 a through apivot pin 56. - In operation, the embodiment of
FIG. 3 also functions with theactuation rod 30 a being moved axially relative to theouter tube 27 a. When theactuation rod 30 a is moved distally, thepivot pin 52 approaches thepivot pin 32 a. This causes the distal ends of thelinks jaw spines actuation rod 30 a is pulled proximally relative to theouter tube 27 a, thepin 52 moves away from thepin 32 a causing the distal end of thelinks jaw spines - Referring to
FIG. 4 , elements of structure similar to those previously discussed will be designated with the same reference numeral followed by the lower case letter “b.” Thus, this embodiment includes theouter tube 27 b,actuation rod 30 b, as well as thejaw spines outer tube 27 b is provided with a fenestration ofwindows 58 extending axially on one side of theouter tube 27 b. A similar fenestration of windows 61 extends axially on the opposite side of theouter tube 27 b. - The jaw spines 18 b and 21 b are best illustrated in the perspective views of
FIGS. 6 and 7 . On the proximal end of thejaw spine 18 b, a series ofgear teeth 63 are centered on ahole 65 that is offset from the longitudinal dimension of thejaw spine 18 b. Thejaw spine 21 b is similarly constructed with a plurality ofgear teeth 67 centered on ahole 70 that is offset from the longitudinal dimension of thejaw spine 21 b. - In operation, the
jaw spines pivot pin 32 b (FIG. 5 ), which extends through theholes pin 32 b can be further extended into at least oneaxial slot 72 in theouter tube 27 b. Thisaxial slot 72 is positioned between the fenestration ofwindows 58 and the fenestration of windows 61. - With this configuration, the
gear teeth 63 of thejaw spine 18 b can be positioned to ride within the fenestration ofwindows 58. Similarly, thegear teeth 67 of thejaw spine 21 b can be positioned to ride within the fenestration of windows 61. - As with the previous embodiments, the
actuation rod 30 b is movable axially relative to theouter tube 27 b. This movement is restricted in this embodiment by the length of theaxial slot 72. When theactuation rod 30 b is drawn proximally within theouter tube 27 b, thegear teeth pin 32 b by the fenestration ofwindows 58 and 61, respectively. With thewindows 58 and 61 disposed on opposite sides of theouter tube 27 b, thejaw spines FIG. 4 . - When the
actuation rod 30 b is moved distally relative to theouter tube 27 b, the fenestration ofwindows 58 and 61 rotate thegear teeth FIG. 5 . - Another embodiment of the invention is illustrated in the side elevation view of
FIG. 8 where elements of structure similar to those previously discussed are designated with the same reference numeral followed by the lower case letter “c.” Thus, in this embodiment the jaw spines are designated by thereference numeral reference numerals FIG. 8 , thejaw spine 18 c is pivotally attached to theouter tube 27 c by apivot pin 72. Similarly, thejaw spine 21 c is pivotally attached to theouter tube 27 c by apivot pin 74. The jaw spines 18 c and 21 c are also attached to theactuation rod 30 c by acommon pivot pin 76. - As in previous embodiments, the device is operated by moving the actuation rod axially relative to the
outer tube 27 c. With thecommon pivot pin 76 disposed inwardly of theindividual pins actuation rod 30 c can be pulled proximally relative to theouter tube 27 c to close thejaw spines individual pins FIG. 8 . If theactuation rod 30 c is pushed distally relative to theouter tube 27 c, thejaw spines - The embodiment of
FIG. 9 contains elements of structure which are similar to those previously disclosed. In this case, these elements are designated with the same reference numeral followed by the lower case letter “d.” Thus, this embodiment includes theouter tube 27 d, theactuation rod 30 d and thejaw spines outer tube 27 d by individual pivot pins 78 and 81, respectively. With this embodiment, acommon pin 83 is provided that is attached to theactuation rod 30 d, which rides within a pair of intersectingslots jaw spines - As in previous embodiments, this device is operated by moving the
actuation rod 30 d axially relative to theouter tube 27 d. When theactuation rod 30 d is moved distally, thecommon pin 83 rides within therespective slots jaws jaw spines FIG. 9 . When theactuation rod 30 d is pulled proximally relative to theouter tube 27 d, thecommon pin 83 moves to the proximal ends of theslots jaw spines respective pins - In each of the above embodiments of the invention, the jaw spines such as
jaw spines FIG. 9 , one of the composite jaws can be formed with the metalinterior jaw spine 18 d and an outerplastic overmold 90. A similar outerplastic overmold 92 can be formed on themetal jaw spine 21 d. As noted, the plastic overmolds 90 and 92 can be easily and inexpensively provided with features such as acoupling detent 94 which is adapted to receive anatraumatic jaw pad 96. It is these features which can be easily and inexpensively molded into theplastic overmold 90 but which would be economically impossible to form on metal jaws. Thus the rigid composite jaw formed of thejaw spine 18 d andovermold 90 is not only practical but also cost effective and accordingly facilitates the application of additional features such as the disposableatraumatic pads 96. - The embodiment of
FIG. 11 is similar to that ofFIG. 9 where elements of structure similar to those previously discussed are designated with the same reference numeral followed by the lower case letter “e.” Thus, this embodiment includes theouter tube 27 e, theactuation rod 30 e, as well as thejaw spines - This embodiment is similar to that of
FIG. 9 in that it includes theindividual pins common pin 83. In this embodiment, however, thecommon pin 83 is disposed to pivotally connect thejaw spines actuation rod 30 e. In other words, thecommon pin 83 is not disposed in slots, but rather is disposed in holes associated with thejaw spines individual pins FIG. 9 , but rather are disposed in associated slots. - In operation, as the
actuation rod 30 e is moved distally relative to theouter tube 27 e, thejaw spines common pin 83 e as theindividual pins respective slots jaws jaws actuation rod 30 e proximally relative to theouter tube 27 e. - A further embodiment of the invention is illustrated in
FIG. 13 wherein elements of structure similar to those previously disclosed are designated with the same reference numerals followed by the lower case letter “f.” Thus, this embodiment includes theouter tube 27 f,actuation rod 30 f,jaw spines common pivot pin 83 f, andslots slots individual pins FIG. 11 can be combined into acommon pin 103 which is fixed to theouter tube 27 f. With this exception involving the intersectingslots common pin 103, the embodiment ofFIG. 13 functions in the same manner as that ofFIG. 11 . - The embodiment of
FIG. 15 contains elements of structure which are similar to those previously disclosed. Accordingly, they are designated with the same reference numerals followed by the lower case letter “g.” Thus, this embodiment includes theouter tube 27 g, the actuatingrod 30 g, thejaw spines jaw spine 18 g has anouter surface 107 while thejaw spine 21 g has anouter surface 110. Astub 112 is fixed, typically by welding, to thejaw spine 18 g and extends outwardly of thesurface 107. In a similar manner, aseparate stub 114 can be fixed to thejaw spine 21 g to extend outwardly from thesurface 110. Thejaw spines outer tube 27 g by acommon pin 105. - The
actuation rod 30 g is bifurcated at its distal end to form twoextensions surfaces extensions slots slot 121 associated with theextension 116 is sized and configured to receive thestub 112 associated with thejaw spine 18 g. Similarly, theslot 123 associated with theextension 118 is sized and configured to receive thestub 114 associated with thejaw spine 21 g. - In operation, the
jaw spines common pin 105 between an open position and a closed position. As theactuating rod 30 g is moved distally relative to theouter tube 27 g, thestubs respective slots jaw spines rod 30 g is pulled proximally relative to theouter tube 27 g, thestubs respective slots jaw spines rod 30 g is pushed distally relative to theouter tube 27 g, thestubs respective slots jaw spines - There are many other embodiments of the invention which are operable with an actuating rod movable relative to an outer tube. Among these embodiments will be those which function by moving one of the jaw spines, such as the
spine 18, with the actuatingrod 30 and then moving the other of the jaw spines, such as thespine 21, with the first spine, such as thespine 18. Various configurations of common pins, individual pins, and slots can be used for these embodiments.
Claims (18)
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Also Published As
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US9161770B2 (en) | 2015-10-20 |
AU2010238559A1 (en) | 2010-11-25 |
US20050101991A1 (en) | 2005-05-12 |
CA2544749A1 (en) | 2005-05-26 |
AU2004289336A1 (en) | 2005-05-26 |
EP1689301B1 (en) | 2015-06-10 |
US7494501B2 (en) | 2009-02-24 |
EP2269520B1 (en) | 2011-11-09 |
AU2010238559B2 (en) | 2013-07-25 |
JP2010284551A (en) | 2010-12-24 |
EP2269520A1 (en) | 2011-01-05 |
JP4614965B2 (en) | 2011-01-19 |
EP2269521B1 (en) | 2015-04-15 |
WO2005046491A1 (en) | 2005-05-26 |
US20140100601A1 (en) | 2014-04-10 |
EP2269521A1 (en) | 2011-01-05 |
JP2007510523A (en) | 2007-04-26 |
EP1689301A1 (en) | 2006-08-16 |
US8545534B2 (en) | 2013-10-01 |
EP2889011A1 (en) | 2015-07-01 |
EP2889011B1 (en) | 2017-01-04 |
AU2004289336B2 (en) | 2010-07-29 |
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